collision_spheres:
  base_link:
    - "center": [-0.002, 0.004, 0.028]
      "radius": 0.01504
    - "center": [-0.017, 0.0, 0.027]
      "radius": 0.01423
    - "center": [0.012, 0.012, 0.028]
      "radius": 0.01423
    - "center": [0.008, -0.016, 0.019]
      "radius": 0.01342
    - "center": [0.015, -0.009, 0.022]
      "radius": 0.01342
    - "center": [-0.015, -0.009, 0.021]
      "radius": 0.01342
    - "center": [0.017, 0.002, 0.021]
      "radius": 0.01342
    - "center": [0.005, 0.017, 0.025]
      "radius": 0.01342
  link1:
    - "center": [-0.013, -0.035, 0.006]
      "radius": 0.0145
    - "center": [0.011, -0.035, 0.005]
      "radius": 0.0145
    - "center": [0.004, -0.035, 0.008]
      "radius": 0.01362
  link2:
    - "center": [-0.257, 0.0, 0.0]
      "radius": 0.04
    - "center": [-0.198, 0.0, 0.0]
      "radius": 0.03
    - "center": [-0.164, 0.0, 0.0]
      "radius": 0.03
    - "center": [-0.009, 0.006, -0.015]
      "radius": 0.01357
    - "center": [-0.26, 0.008, 0.017]
      "radius": 0.01357
    - "center": [-0.125, 0.0, 0.0]
      "radius": 0.03
    - "center": [-0.083, 0.0, 0.0]
      "radius": 0.03
    - "center": [-0.044, 0.0, 0.0]
      "radius": 0.03
    - "center": [0.0, 0.0, 0.0]
      "radius": 0.03
  link3:
    - "center": [0.241, -0.0, -0.056]
      "radius": 0.03
    - "center": [0.197, -0.0, -0.053]
      "radius": 0.02
    - "center": [0.157, -0.0, -0.054]
      "radius": 0.02
    - "center": [0.122, -0.0, -0.055]
      "radius": 0.02
    - "center": [0.108, -0.0, -0.051]
      "radius": 0.02
    - "center": [0.071, -0.0, -0.05]
      "radius": 0.02
    - "center": [0.058, -0.0, -0.051]
      "radius": 0.02
  link4:
    - "center": [0.066, -0.0, -0.065]
      "radius": 0.03
  link5:
    - "center": [0.002, 0.0, 0.084]
      "radius": 0.03
  link6:
    - "center": [0.037, 0.001, 0.004]
      "radius": 0.02744
    - "center": [0.036, 0.004, -0.01]
      "radius": 0.02666
    - "center": [0.036, -0.012, 0.003]
      "radius": 0.02587
    - "center": [0.07, 0.072, 0.0]
      "radius": 0.01
    - "center": [0.068, 0.047, 0.0]
      "radius": 0.01
    - "center": [0.07, -0.073, 0.0]
      "radius": 0.01
    - "center": [0.069, -0.052, 0.0]
      "radius": 0.01
    - "center": [0.069, 0.025, 0.0]
      "radius": 0.01
    - "center": [0.071, -0.036, 0.0]
      "radius": 0.01